CN108167394B - A Rotating Base and Cylindrical Coordinate System Robot - Google Patents

Abstract

The invention provides a rotary base and a cylindrical coordinate system robot. The rotating base is compact in integral structure, and the speed reduction of the motor is realized in a smaller volume; the whole structure is firm, can bear larger load and has good stability; according to the circular turnover motion property of the platform, circular track motion can be realized, and the method is applied to the processing procedure of circular processing tracks of various scenes and has good practicability.

Description

A Rotating Base and Cylindrical Coordinate System Robot

technical field

The invention relates to the technical field of robots, in particular to a rotating base and a cylindrical coordinate system robot.

Background technique

Industrial robots are classified according to the coordinate system, which can be divided into cylindrical coordinate type, spherical coordinate type, multi-joint type, plane joint type, and rectangular coordinate type. Among them, the cylindrical coordinate robot refers to a robot whose axes can form a cylindrical coordinate system, and the SCARA robot is widely used in the cylindrical coordinate robot.

In the cylindrical coordinate robot, the first-level axis is responsible for the rotation of the entire robot module, and the load is heavy. The stability of the first-level axis affects the running accuracy of the entire robot. Therefore, the design of the first-level axis is particularly critical.

SUMMARY OF THE INVENTION

The invention provides a rotating base and a cylindrical coordinate system robot, the overall structure is compact, and the deceleration of the motor can be realized in a small volume; the overall structure is firm, can bear a large load, and has good stability; according to the circular turnover of the platform The motion property can realize circular trajectory motion, and be applied to the processing process of circular processing trajectory in various scenarios, which has good practicability. .

Correspondingly, the present invention provides a rotating base, the rotating base includes a rotating base motor, a reducer, a coupling, and a platform;

The casing of the rotating base motor is fixed on a rotating base motor support, and the rotating shaft is arranged along the z positive direction and is connected with the input end of the reducer;

The output end of the reducer is connected with the input end of the coupling, and the output end of the coupling is connected with the platform;

The rotating electrical machine bracket is welded on a plane to realize fixation.

The rotating base motor is fixed in the middle of the inner cavity of the rotating base motor support; the casing of the rotating base motor is locked on the rotating base motor support.

The reducer includes a reducer housing, an input shaft, an input gear, two spur gears, two crankshafts, a first planet carrier, a first RV gear and a second RV gear with an equal number of teeth, and a second planet carrier;

Inside the reducer housing, the second planet carrier, the second RV gear, the first RV gear, and the first planet carrier are sequentially installed from the negative z direction to the positive z direction;

The first planet carrier and the second planet carrier are fitted on the inner wall of the reducer housing based on angular contact bearings based on the outer circumference; the inner wall of the reducer housing corresponds to the positions of the first RV gear and the second RV gear, evenly Installed with one more pin teeth than the number of teeth of the first RV gear and the second RV gear;

The input shaft and the two crankshafts pass through the second planet carrier, the second RV gear, the first RV gear, and the first planet carrier in sequence from the negative direction of the reducer housing z;

The end of the input shaft is located in the through hole of the first planet carrier and is connected with the input gear, and the ends of the two crankshafts are located in the through hole of the first planet carrier and are respectively connected with the two crankshafts. Spur gears are connected;

the two spur gears are symmetrically arranged outside the input gear and mesh with the input gear;

The crankshaft is from the positive z direction to the negative z direction, and is respectively a first rotating shaft part, a first crank part, a second crank part and a second rotating shaft part;

In the crankshaft, the outer circumference of the first rotating shaft portion is fitted on the inner wall of the through hole of the first planet carrier based on a tapered roller bearing; the outer circumference of the second rotating shaft portion is fitted on the second rotating shaft portion based on a tapered roller bearing. the inner wall of the through hole of the planet carrier; the axes of the first rotating shaft part and the second rotating shaft part are collinear and parallel to the axis of the input shaft;

The first crank parts of the two crankshafts are respectively connected with the first RV gears based on needle roller bearings; the second crank parts of the two crankshafts are respectively based on the communication between the needle roller bearings and the second RV gears. The inner wall of the hole is connected;

The first RV gear and the second RV gear are driven by the two crankshafts to mesh with the pin teeth;

The first planet carrier, the second planet carrier, the first RV gear and the second RV gear are provided with cooling holes.

On the first planet carrier, an output connection hole for power output and a contact surface of the tapered roller bearing for the contact of the tapered roller bearing are provided;

The distance between the heat dissipation hole and the output connection hole is at least one tenth of the diameter of the output connection hole;

The distance between the heat dissipation hole and the contact surface of the tapered roller bearing is at least one tenth of the diameter of the contact surface of the tapered roller bearing.

The first RV gear and the second RV gear are respectively provided with crank part connecting holes connected with the first crank part or the second crank part of the crank shaft;

The distance between the heat dissipation hole and the connecting hole of the crank part is at least one tenth of the diameter of the connecting hole of the crank part;

The distance between the heat dissipation hole and the tooth base circle of the teeth of the first RV gear is at least the tooth height of the teeth of the first RV gear;

On the second RV gear, the distance between the heat dissipation hole and the tooth base circle of the teeth of the second RV gear is at least the tooth height of the teeth of the second RV gear.

The z positive surface and the z negative surface of the first RV gear and the second RV gear are respectively provided with wear-resistant ceramic coatings.

The coupling includes a coupling bracket, a coupling housing, a coupling body, a coupling bottom cover and an oil seal;

The coupling bracket is fixed above the rotating base motor bracket, the coupling shell is fixed in the middle of the coupling bracket; the coupling bottom cover is installed on the z negative of the coupling shell. The coupling body is connected and fixed with the first planet carrier of the reducer; the coupling body is connected and fixed with the platform in the z positive direction, and extends into the coupling shell from the z positive direction of the coupling shell an inner cavity, which penetrates from the negative z direction of the coupling shell, and is connected and fixed with the bottom cover of the coupling;

The number of the oil seals is two, which are respectively installed on the contact positions of the coupling body and the coupling housing in the positive and negative z directions.

The platform is provided with a platform working plate and a leveling device, and the platform working plate is installed on the platform based on the leveling device.

Correspondingly, the present invention also provides a robot in a cylindrical coordinate system, and the robot in a cylindrical coordinate system includes the rotating base and the execution end described in any one of the above.

The cylindrical coordinate system robot further includes a sliding rail and a sliding block; the sliding rail is installed on the platform or the platform working plate, the sliding block is matched with the sliding rail, and the execution end is fixed on the platform. on the slider.

The rotating base provided by the present invention has a compact overall structure and can realize the deceleration of the motor in a small volume; the overall structure is firm, can bear a large load, and has good stability; It has good practicability and is applied to the processing process of circular processing trajectory of various scenes.

Description of drawings

In order to explain the embodiments of the present invention or the technical solutions in the prior art more clearly, the following briefly introduces the accompanying drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are only These are some embodiments of the present invention, and for those of ordinary skill in the art, other drawings can also be obtained from these drawings without creative effort.

Fig. 1 shows a three-dimensional structural schematic diagram of a rotating base according to an embodiment of the present invention;

Fig. 2 shows the front full cross-sectional view of the rotating base according to the embodiment of the present invention;

FIG. 3 shows a perspective view 1 of the reducer according to the embodiment of the present invention;

Fig. 4 shows the top view of the reducer according to the embodiment of the present invention;

Fig. 5 shows the bottom view of the reducer according to the embodiment of the present invention;

Fig. 6 shows the second perspective view of the reducer according to the embodiment of the present invention;

Fig. 7 shows the top view of the first planet carrier structure according to the embodiment of the present invention;

Fig. 8 shows the top view of the improved first planet carrier structure according to the embodiment of the present invention;

Fig. 9 shows the top view of the improved first RV gear structure according to the embodiment of the present invention;

Fig. 10 shows a partial enlarged cross-sectional view of the coupling according to the embodiment of the present invention;

Fig. 11 shows a partial enlarged cross-sectional view of the leveling device according to the embodiment of the present invention;

FIG. 12 shows a schematic diagram of a working end of a robot in a cylindrical coordinate system according to an embodiment of the present invention.

Detailed ways

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, but not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

Fig. 1 shows a schematic three-dimensional structure of a rotating base according to an embodiment of the present invention, and Fig. 2 shows a half-section view of the rotating base according to the present embodiment. Among them, since the cross-sectional view of the reducer 207 is relatively complicated, it is not clearly expressed in the overall structure diagram. The reducer 207 will be disassembled and introduced.

The rotating base provided by the embodiment of the present invention includes a rotating base motor 206 , a reducer 207 , a coupling 208 , and a platform 204 .

The casing of the rotating base motor 206 is fixed on a rotating base motor bracket 201, and the rotating shaft is arranged along the z positive direction and is connected to the input end of the reducer. In the embodiment of the present invention, the rotating base motor bracket 201 acts as a support for the entire rotating base at the same time. Therefore, the rotating base motor bracket 201 in the embodiment of the present invention is in the shape of a barrel, and the bottom plate extends outward away from the center of the circle. A plurality of reinforcing ribs are arranged between the motor brackets 201 to provide better stability. In the specific implementation, the rotary base motor bracket 201 can be integrally processed by casting. A top plate with a through hole in the middle is used for covering, which can reduce the entry of dust while providing a fixing point for the reducer bracket 202 . The rotating base motor 201 is fixed in the inner cavity of the rotating base motor bracket 201, and the specific position is the middle part of the bottom plate, and the rotating shaft faces the z positive direction.

In specific implementation, combined with the structural features of the rotating base of the embodiment of the present invention, the rotating base motor bracket 201, the reducer bracket 202 and the coupling bracket 203 described later can be formed by integral casting to enhance the overall rigidity of the rotating base.

Above the rotating base motor 206 is a reducer 207 , the input end of the reducer 207 is connected with the rotating shaft of the rotating base motor 206 , and the output end is connected with the input end of the coupling.

The reducer 207 of the embodiment of the present invention is installed in the middle of the reducer bracket 202. FIG. 3 shows a perspective view of the reducer according to the embodiment of the present invention. Because the reducer has symmetry, only one side of the symmetry plane is shown. view for easy understanding. The reducer of the embodiment of the present invention includes a reducer housing 216 , an input shaft 210 , an input gear 211 , two spur gears 213 , two crankshafts 212 , a first planet carrier 214 , a first RV gear 218 with an equal number of teeth, and a second RV gear 218 . RV gear 219 , second planet carrier 226 .

Inside the reducer housing 216 , the second carrier 226 , the second RV gear 219 , the first RV gear 218 , and the first carrier 214 are mounted in this order from the negative z direction to the positive z direction.

Wherein, the first planet carrier 226 and the second planet carrier 214 are mounted on the inner wall of the reducer housing 216 based on the outer peripheral angular contact bearing 215; the inner wall of the reducer housing 216 corresponds to the first RV gear 218, the second On the positions of the second RV gears 219 , there are evenly installed pin teeth 217 that are one more number of teeth than the first RV gear and the second RV gear.

The upper and middle part of the first planet carrier 214 is provided with an input gear through hole 261 for the rotation of the input gear, and the input gear through hole extends symmetrically outward to a spur gear through hole 262 for the rotation of the spur gear; the input gear 211 is installed on the input gear. In the gear through holes, two spur gears 213 are respectively installed in the two spur gear through holes; the two spur gears 213 are symmetrically arranged outside the input gear 211 and mesh with the input gear 211 .

The input shaft 210 and the two crankshafts 212 pass through the second planet carrier 226, the second RV gear 219, the first RV gear 218, and the first planet carrier 214 in sequence from the negative direction of the housing z; The end of the input shaft 210 is located in the input gear through hole of the first planet carrier 214 and is connected with the input gear 211 therein, and the two crankshafts 212 end is located in the spur gear through hole of the first planet carrier and are respectively connected with the two spur gears 213 therein.

It should be noted that the input gear and the spur gear are meshed with spur teeth. Therefore, there is only an interaction force on the xy plane between the input gear and the spur gear, and the force in the z direction is almost zero. Therefore, In structural design, force calculation, etc., it is only necessary to focus on the force on the xy plane; in the z direction, only the self-weight and installation method of the input gear and the spur gear need to be considered, and there is no need to carry out the relevant z Force calculation.

The two crankshafts 212 have the same structure, wherein, each crankshaft 212 includes a first crank part and a second crank part respectively located at the two ends of the crankshaft and the middle part, starting from the negative z direction, and the second crank part in sequence. The rotating shaft part 225 , the second crank part 224 , the first crank part 223 , and the first rotating shaft part 222 .

The spur gear 213 is installed on the end of the first rotating shaft portion 222. In the specific implementation, the outer periphery of the end portion of the first rotating shaft portion 222 can also be processed into a spur tooth surface; it is located between the spur gear 213 and the first crank portion 223. A tapered roller bearing 220 is sleeved on the first rotating shaft portion 222 of the crankshaft 212 , and the crankshaft 212 is connected with the first planet carrier 214 based on the tapered roller bearing 220 . It should be noted that the tapered roller bearings 220 of the two crankshafts 212 at this position are connected to the first planet carrier 214 at the same time.

The first crank part 223 of the crankshaft 212 is connected with the first RV gear based on the needle bearing 221; the second crank part 224 of the crankshaft 212 is connected with the second RV gear based on the needle bearing 221; it should be noted that the two cranks The first crank portion 223 of the shaft 212 is connected with the first RV gear at the same time, and the connection position is symmetrical with respect to the axis of the first RV gear. The motion trajectory of the RV gear is cycloid motion; for the same reason, the motion trajectory of the second RV gear is an epicycloid trajectory; since the outer circumferences of the first RV gear and the second RV gear are pin teeth that match them, the first RV gear and the The teeth of the second RV gear mesh with the pin teeth one after another to transmit force.

The above is the connection relationship between the components of the reducer. In actual operation, the reducer according to the embodiment of the present invention is mainly composed of two stages of reduction.

The front-stage deceleration is a spur gear deceleration mechanism composed of the input gear and two spur gears; the rear-stage deceleration is mainly composed of a differential gear deceleration mechanism composed of the crankshaft, the RV gear, and the pin teeth on the casing.

In the spur gear reduction mechanism of the previous stage, the input gear and the spur gear are decelerated according to the gear ratio. For example, in the embodiment of the present invention, the input gear is 12 teeth, the spur gear is 42 teeth, and the reduction ratio is 3.5, that is, the input shaft drives the input gear. For 3.5 turns, the spur gear turns 1 turn.

In the differential gear reduction mechanism of the rear stage, specifically a cycloidal pinwheel reduction mechanism, the number of RV gear teeth in the embodiment of the present invention is 39, and the number of pin teeth of the reducer housing is one larger than the number of RV gear teeth, which is 40; the crankshaft For one revolution, the angle of 1 tooth relative rotation between the RV gear and the reducer casing, that is, the relative rotation between the RV gear and the reducer casing for one revolution, the crankshaft needs to rotate 40 times, therefore, the differential gear reduction mechanism of the rear stage The reduction ratio is 40, therefore, the total reduction ratio of the reducer in the embodiment of the present invention is 140.

If the first planetary carrier and the second planetary carrier are fixed, the shaft of the crankshaft is correspondingly fixed in the axial direction. At this time, the reducer casing can be used as the output end of the reducer; if the reducer casing is fixed, the first planetary The carrier and the second planet carrier can be used as the output. Considering the installation environment of the reducer, a common implementation is to fix the reducer housing, and use the first planet carrier and the second planet carrier as the output ends of the reducer.

In the specific implementation, the fixing method of the components in the reducer housing in the z direction should also be considered. Since the reducer of the embodiment of the present invention mainly relies on the meshing of the teeth to transmit power, and the input gear and the spur gear, the RB gear and the pinion All parts are matched with straight teeth, and each part is mainly stressed on the xy plane. Therefore, only a certain support force needs to be provided in the z direction to ensure that the parts do not come out of the reducer housing.

FIG. 6 shows a second perspective view of the reducer according to the embodiment of the present invention, and the perspective view is mainly used to show the connection mode between the first planet carrier 214 and the second planet carrier 226 . The embodiments of the present invention rely on the cooperation between the first planet carrier 214 , the second planet carrier 226 and the reducer casing 216 to achieve the fixing of the components in the reducer casing in the z-direction. The specific fixing method is:

The first planet carrier 214 is above its angular contact bearing 215, the wire diameter increases, and is pressed against the angular contact bearing under the action of gravity; the second planet carrier 226 is based on the second RV gear 219 and the first RV gear 218. The planet carrier 214 is connected and fastened as a whole; the second planet carrier is under its angular contact bearing, the wire diameter increases, and when the screw 263 is locked, it is pressed on the angular contact bearing.

With reference to the top view of the reducer of the embodiment of the present invention shown in FIG. 4 , the first planet carrier 214 and the second planet carrier 226 of the present embodiment are locked by four sets of screws 263 . On the one hand, the first planet carrier 214 and the second planet carrier 226 are A clamping force is formed between the two planet carriers 226, which clamps the first RV gear and the second RV gear between the two to ensure that they can mesh at the position of the pin teeth corresponding to the reducer housing; on the other hand, The first planet carrier 214 and the second planet carrier 226 are respectively installed on both sides of the first RV gear and the second RV gear, and are connected to the two crankshafts, which can give the RB gear reaction force to the reducer housing in a balanced manner to output.

In specific operation, the input shaft 210 is the input end; the input shaft 210 is connected with the input gear 211 , and the rotation speed of the input gear 211 is the same as the rotation speed of the input shaft 210 ; the input gear 211 is connected with the spur gear 213 for pre-stage deceleration.

The spur gear 213 drives the crankshaft 212 to rotate, and the crankshaft 212 drives the first RV gear 218 and the second RV gear 219 to oscillate alternately, and mesh with the pin teeth of the reducer casing in succession; since the reducer casing 216 of the embodiment of the present invention is fixed, The specific performance of the deceleration at the rear stage of the reducer is that the crankshaft 212 rotates slowly around the input shaft; since the first planetary carrier 214 and the second planetary carrier 226 are connected with the two crankshafts 212, the first planetary carrier 214 is in the crankshaft 212. Driven, it slowly rotates around the input shaft 210, and can be used as an output end to connect with other components.

Similarly, the second planet carrier 226 can also be used as an output end.

From the structure of the reducer described above, it can be seen that the z-up between the first planet carrier, the first RV gear, the second RV gear and the second planet carrier is mainly fixed by clamping; The first planet carrier, the first RV gear, the second RV gear, and the second planet carrier rotate with each other, and the contact surfaces slide against each other. Therefore, in the specific implementation, the first planet carrier, the first RV gear, and the , The z-direction contact surface of the second RV gear and the second planet carrier needs to be processed into a smooth surface to reduce friction. Since the materials of the first planet carrier, the first RV gear, the second RV gear and the second planet carrier are often made of metal, when the reducer is stationary, molecular motion may occur between the smooth contact surfaces, forming adhesions, which are easy to connect to. The reducer causes wear.

Therefore, in the specific implementation, a washer can be added at the contact position among the first planet carrier, the first RV gear, the second RV gear and the second planet carrier on the crankshaft to connect the first planet carrier, the first The RV gear, the second RV gear and the second planet carrier are separated; after adding a washer, a certain gap can be formed between the first planet carrier, the first RV gear, and the second RV gear, but due to the contact between the washer and each component The area is small, and it is easy to cause wear and tear during high-speed movement; the powder from the wear of the washer is easily mixed into the grease, and the performance of the grease decreases, which affects the performance of the reducer.

Therefore, a wear-resistant ceramic coating can also be provided on the z positive surface and the z negative surface of the first RV gear and the second RV gear.

Wear-resistant ceramics are special corundum ceramics made of AL2O3 as the main raw material, rare metal oxides as the flux, calcined at a high temperature of 1700 Baidu, and then combined with special rubber and high-strength organic/inorganic binders. The product has the characteristics of high hardness, excellent wear resistance, light weight, firm bonding, good heat resistance, etc., and the structure is relatively stable. In the reducer of the embodiment of the present invention, it is used as an isolation medium between the first planet carrier, the first RV gear, the second RV gear and the second planet carrier, which can prevent the first planet carrier, the first RV gear, the The second RV gear and the second planet carrier have molecular motion due to long-term static, forming adhesion; it should be noted that the wear-resistant ceramic surface needs to be polished to reduce frictional resistance.

Further, the reducer of the embodiment of the present invention is mainly used in application scenarios with heavy loads, and has the characteristics of small size and large reduction ratio; when the load is low and the rotation speed is high, the reducer can be designed to be lightweight. , to reduce the weight of the reducer.

FIG. 4 shows a top view of the reducer according to the embodiment of the present invention, and FIG. 7 shows a top view of the first planet carrier according to the embodiment of the present invention. The structure of the second planet carrier is similar to the structure of the first planet carrier and will not be repeated. In FIG. 7, the thick solid line represents the main force position of the first planet carrier at the main force position. The design on the first planet carrier 214 is as follows:

The first planet carrier 214 is provided with an input gear through hole 261 for accommodating the input shaft 211 and the input gear 211 , and a spur gear through hole 262 for accommodating the crankshaft 212 and the spur gear 213 . Besides, in order to realize the installation and power output of the first planet carrier 214 , threaded holes for connecting screws 263 and output connecting holes 264 for connecting with external components are also provided.

Combining the perspective view 1 of the reducer shown in FIG. 4 and the perspective view 2 of the reducer shown in FIG. 6 and the above description, it can be obtained that the position where the first planet carrier 214 is mainly subjected to force includes the output connection hole 264 and the contact with the tapered roller. The tapered roller bearing mounting surface 270 in contact with the bearing 220 is shown by a dotted line in the top view shown in FIG. 7 due to the relationship of the viewing angle. Among them, the output connection port 264 is connected to the output of the external components, and the force is relatively large; the tapered roller bearing mounting surface 270 is mainly subjected to the reaction force given to the crankshaft by the reducer casing through the RV gear. Since the tapered roller bearing and the tapered roller bearing mounting surface 270 are in annular contact, the tapered roller bearing mounting surface 270 is mainly stressed in the tangential direction along the circular motion of the crank shaft, taking the clockwise motion direction shown in FIG. 5 as an example , the direction of the force that the crankshaft imparts to the tapered roller bearing mounting surface 270 based on the tapered roller bearing is the direction indicated by the arrows on the tapered roller bearing mounting surface 270 in FIG. 7 .

FIG. 8 shows a schematic top view of the improved first planet carrier. In the specific implementation, in order to reduce the weight of the reducer according to the embodiment of the present invention, cooling holes can be opened on the first planet carrier 214 and the second planet carrier. On the one hand, the weight of the planet carrier is reduced, thereby reducing the weight of the reducer; On the one hand, the exposed area is increased to speed up the heat dissipation inside the reducer, so that it can work at a higher speed.

It should be noted that, considering the force characteristics of the first planet carrier described above, in order to avoid the conical roller bearing mounting surface 270 and the output connecting hole 264 being too thin around the wall thickness, the first planet carrier is caused by stress concentration. The heat dissipation holes are set to avoid being too close to the tapered roller bearing mounting surface 270 and the output connection hole 264; in specific implementation, if the radius of the tapered roller bearing mounting surface 270 is D1, in order to avoid stress concentration, the heat dissipation holes The distance from the tapered stick bearing mounting surface 270 is at least 0.1D1; similarly, the distance between the heat dissipation holes around the output connection hole 264 and the output connection hole is at least one tenth of the diameter of the output connection hole.

FIG. 9 shows a schematic top view of the improved first RV gear. Similarly, the first RV gear and the second RV gear may also have heat dissipation holes within a set range. Considering the force positions of the first RV gear and the second RV gear, they are the crank part connecting holes 272 connected to the first crank part or the second crank part of the crankshaft, respectively. Therefore, it is assumed that the diameter of the crank part connecting hole 272 is D2 , the distance between the heat dissipation hole and the connecting hole of the crank part is at least 0.1D2; in addition, the force position of the first RV gear and the second RV gear also includes the surrounding teeth. Therefore, the RV gear needs to be set before opening the heat dissipation hole Note that at least a distance of one tooth height is maintained between the heat dissipation hole and the tooth bottom circle of the external tooth.

It should be noted that the shape of the heat dissipation holes of the reducer provided by the embodiment of the present invention is not limited, and can be designed according to actual load requirements and processing requirements. Balanced to suit a variety of operating conditions.

The improved reducer, although the rated load is smaller than the rated load before the heat dissipation holes are installed due to the setting of the heat dissipation holes, but due to the weight reduction and the setting of the heat dissipation holes, it can be suitable for high-speed and light-load motion, which is beneficial to reduce the speed of the reducer. Production costs and expanding the application scenarios of this reducer.

The reducer of the embodiment of the present invention goes through two stages of deceleration and two-stage transmission from the power input end to the power output end. The deceleration and transmission of each stage are all in line contact or surface contact, and the load is relatively large; the arrangement of each component Make full use of the space, so that the reducer can achieve a large reduction ratio in a small volume; the setting of the heat dissipation holes of the planet carrier and the RV gear can make the reducer apply to high-speed, low-load applications, increasing the its scope of application.

Couplings can be divided into two categories: rigid couplings and flexible couplings. Rigid couplings do not have buffering properties and the ability to compensate for the relative displacement of the two axes, requiring strict alignment of the two axes, but this type of coupling has a simple structure, low manufacturing cost, easy assembly and disassembly and maintenance, and can ensure that the two axes have high The neutrality is high, the transmission torque is large, and it is widely used. Commonly used are flange couplings, sleeve couplings and jacket couplings.

Flexible couplings can be divided into flexible couplings with no elastic elements and flexible couplings with elastic elements. The former type only has the ability to compensate for the relative displacement of the two axes, but it cannot buffer and reduce vibration. The common ones are slippery. Block couplings, gear couplings, universal couplings and chain couplings, etc.; the latter type contains elastic elements, in addition to the ability to compensate for the relative displacement of the two axes, it also has the functions of buffering and damping. However, due to the limitation of the strength of the elastic element, the transmitted torque is generally not as good as the flexible coupling without elastic element. The common elastic sleeve pin coupling, elastic pin coupling, plum-shaped coupling, tire type coupling Couplings, serpentine spring couplings and reed couplings, etc.

FIG. 10 shows a schematic structural diagram of a coupling according to an embodiment of the present invention. The embodiment of the present invention adopts a rigid coupling, which includes a coupling bracket 232, a coupling housing 233, a coupling body 231, a coupling bottom cover 230, a coupling bearing 236, a coupling Reducer oil seal 234;

The coupling bracket 232 is fixed on the reducer bracket 202, and the coupling housing 233 is installed in the middle of the coupling bracket 232;

The coupling bottom cover 230 is installed in the negative z direction of the coupling housing 233 and is connected and fixed with the first planet carrier 214 of the reducer; the coupling body 231z is positively connected to the platform 204 The connection is fixed, specifically, it is connected and fixed with the porous disc 205 of the platform 204 .

The coupling body 231 protrudes into the inner cavity of the coupling shell 233 from the z positive direction of the coupling shell 233, and passes out from the z negative direction of the coupling shell 233, and is connected with the coupling shell 233. The bottom cover 230 is connected and fixed;

The number of the coupling reducer oil seals 234 is two, which are respectively installed at the contact positions of the coupling body 231 and the coupling housing 233 z in the positive and z-negative directions.

In order to avoid the trouble of repeated replacement of lubricating oil or lubricating grease, lubricating oil or lubricating grease 235 can be filled between the two coupling reducer oil seals 234 .

Above the oil seal 234 of the coupling reducer located in the z positive direction, a coupling bearing 236 is provided, and the coupling bearing 236 is used to reduce the frictional force when the coupling is running.

The platform 204 may be in various forms, and the shape of the platform 204 is not completely shown in the drawings of the embodiments of the present invention. Since the connection between the platform 204 and the coupling 208 is a rigid connection, it is easy to loosen and fall off due to problems such as damage and fatigue during long-term operation. In order to reduce the maintenance cost of the platform 204, in the specific implementation, a porous disc 205 is installed on the platform 204, the porous disc 205 is fitted on the platform 204 based on the interference fit, and the platform 204 is based on the porous disc 205 and the coupling. The main body 205 is connected and fixed. During maintenance, only the porous disc 205 needs to be replaced, and the maintenance cost is low.

The rotating base motor support is a fixed support; the rotating base motor support is locked by screws or welded on a fixed plane, which can provide good stability when the rotating base moves.

FIG. 11 shows a partial cross-sectional view of a leveling device according to an embodiment of the present invention. A leveling device is installed on the platform, and the platform working plate 240 is not shown in FIG. 1 . In a specific implementation, the leveling device may be a three-point leveling device. Three leveling devices are triangularly mounted on the platform working plate 240 and the platform 204 . The structure of the leveling device is as follows:

The leveling device includes a long screw 241, two nuts 242 and a spring 243; the long screw 241 passes through the platform working plate 240 and the platform 204, and is locked on the nut 242 overlapped and embedded on the platform 204; located on the platform working plate 240 and the platform 204 The outer circumference of the long screw 241 in between is covered with a spring 243 in a compressed state; it should be noted that the support provided by the springs 243 of the three leveling devices can keep the platform working plate 240 still under the maximum load.

Correspondingly, the rotating base provided by the embodiment of the present invention can be applied to the cylindrical coordinate system robot, and the rotating base can be used as the first-level autorotation arm of the cylindrical coordinate system robot. Second stage arm.

FIG. 12 shows a schematic structural diagram when the execution end is directly installed on the platform working plate 240 . In the specific implementation, since the rotating base of the embodiment of the present invention has a high degree of circularity when rotating, if the execution end, such as the nozzle 252, is installed on the platform working plate 240, when the rotating base operates, the end of the nozzle 252 will be circular Therefore, the nozzle 252 can perform painting work on the workpiece whose painting track is a circular track. Further, considering the paint trajectories of different radii, the nozzle 252 can be installed on a guide rail 251 to dynamically adjust the radius of the movement circle of the nozzle tip.

Further, due to the overall structure of the rotating base, the structural characteristics of the reducer and the coupling according to the embodiment of the present invention, it still has good stability under heavy load conditions. Therefore, it can be used as the first level of the cylindrical coordinate system robot. arm use. In a specific implementation, the second stage arm can be installed on the platform working plate 240 to expand the application scenario of the rotating base.

The rotating base provided by the embodiment of the present invention has a compact overall structure, and realizes the deceleration of the motor in a small volume; the overall structure is firm, can bear a large load, and has good stability; It realizes circular trajectory motion and applies it to the processing process of circular processing trajectory in various scenarios, which has good practicability.

The rotating base and the cylindrical coordinate system robot provided by the embodiments of the present invention have been introduced in detail above. In this paper, specific examples are used to illustrate the principles and implementations of the present invention. The descriptions of the above embodiments are only used to help understand the present invention. At the same time, for those skilled in the art, according to the idea of the present invention, there will be changes in the specific implementation and application scope. In summary, the content of this specification should not be construed as Limitations of the present invention.

Claims (6)

1. A rotating base is characterized by comprising a rotating base motor, a speed reducer, a coupling and a platform;

the shell of the rotating base motor is fixed on a rotating base motor bracket, and the rotating shaft is arranged along the positive direction z and is connected with the input end of the speed reducer;

the output end of the speed reducer is connected with the input end of the coupler, and the output end of the coupler is connected with the platform;

the rotating motor bracket is welded on a plane to realize fixation;

the speed reducer comprises a speed reducer shell, an input shaft, an input gear, two straight gears, two crankshafts, a first planet carrier, a first RV gear, a second RV gear and a second planet carrier, wherein the first RV gear and the second RV gear have the same number of teeth;

the second planet carrier, the second RV gear, the first RV gear and the first planet carrier are sequentially arranged in the speed reducer shell from the negative z direction to the positive z direction;

the first planet carrier and the second planet carrier are matched on the inner wall of the speed reducer shell based on angular contact bearings on the outer peripheries; the inner wall of the reducer shell is uniformly provided with needle teeth, the number of which is one more than that of the teeth of the first RV gear and the second RV gear, at the positions corresponding to the first RV gear and the second RV gear;

the input shaft and the two crankshafts sequentially penetrate through the second planet carrier, the second RV gear, the first RV gear and the first planet carrier from the negative direction z of the speed reducer shell;

the positive ends of the input shafts z are positioned in the through holes of the first planet carrier and connected with the input gear, and the positive ends of the two crankshafts z are positioned in the through holes of the first planet carrier and connected with the two straight gears respectively;

the two straight gears are symmetrically arranged outside the input gear and are meshed with the input gear;

the crank shaft is respectively a first rotating shaft part, a first crank part, a second crank part and a second rotating shaft part from the positive direction to the negative direction of z;

in the crank shaft, the outer periphery of the first shaft portion is fitted to the inner wall of the through hole of the first carrier based on a tapered roller bearing; the periphery of the second rotating shaft part is matched with the inner wall of the through hole of the second planet carrier based on a tapered roller bearing; the axes of the first rotating shaft part and the second rotating shaft part are collinear and are parallel to the axis of the input shaft;

the first crank parts of the two crankshafts are respectively connected with the first RV gear on the basis of needle bearings; second crank parts of the two crankshafts are connected with the inner wall of the through hole of the second RV gear on the basis of a needle bearing respectively;

the first RV gear and the second RV gear are meshed to the needle teeth under the driving of the two crank shafts;

the first planet carrier, the second planet carrier, the first RV gear and the second RV gear are provided with heat dissipation holes;

the coupler comprises a coupler bracket, a coupler shell, a coupler body, a coupler bottom cover and an oil seal;

the coupler support is fixed above the rotating base motor support, and the coupler shell is fixed in the middle of the coupler support; the coupling bottom cover is arranged in the z-direction of the coupling shell and is fixedly connected with the first planet carrier of the speed reducer; the z-positive direction of the coupler body is fixedly connected with the platform, extends into the inner cavity of the coupler shell from the z-positive direction of the coupler shell, penetrates out from the z-negative direction of the coupler shell, and is fixedly connected with the coupler bottom cover;

the two oil seals are respectively arranged at the contact positions of the coupling body and the coupling shell in the positive z direction and the negative z direction;

the platform is provided with a platform working plate and a horizontal leveling device, and the platform working plate is installed on the platform based on the horizontal leveling device.

2. The rotating base according to claim 1, wherein an output connection hole for power output and a conical roller bearing contact surface for the conical roller bearing contact are provided on the first carrier;

the distance between the heat dissipation hole and the output connecting hole is at least one tenth of the diameter of the output connecting hole;

the distance between the heat dissipation hole and the contact surface of the conical roller bearing is at least one tenth of the diameter of the contact surface of the conical roller bearing.

3. The rotating bed of claim 2 wherein said first and second RV gears are provided with crank portion connection holes to said crankshaft first or second crank portions, respectively;

the distance between the heat dissipation hole and the crank part connecting hole is at least one tenth of the diameter of the crank part connecting hole;

the distance between the heat dissipation hole and the tooth bottom circle of the tooth of the first RV gear is at least the tooth height of the tooth of the first RV gear;

on the second RV gear, the distance between the heat dissipation hole and the tooth bottom circle of the tooth of the second RV gear is at least the tooth height of the tooth of the second RV gear.

4. The rotating bed of claim 3 wherein said first RV gear and said second RV gear are provided with a wear resistant ceramic coating on each of said z-positive and z-negative faces.

5. A cylindrical coordinate system robot, characterized in that, including the rotating base and the executing end of any claim 1 to 4.

6. The cylindrical coordinate system robot of claim 5, further comprising a slide rail and a slider; the slide rail is arranged on the platform or the platform working plate, the slide block is matched on the slide rail, and the execution tail end is fixed on the slide block.

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